Ege Üniversitesi

Elektrik Elektronik Mühendisliği Bölümü

Kontrol Sistemleri II Dersi
5.UYGULAMA 03 Aralık 2021
Ön Çalışma
Aşağıda referansı verilen makalede kontrol edilen plant’in;

1. Çıkış sinyali sarkacın açısal pozisyonu, giriş sinyali ise motora uygulanan voltaj olacak şekilde transfer
fonksiyonunu elde ediniz.
2. Benzer şekilde durum uzay matrislerini elde ediniz.
3. Özdeğerlerini hesaplayıp, plant’in karakteristiğini yorumlayınız.
4. Plant’in kontrol edilebilir olup olmadığını hesaplayınız.

g Grav. Acc. 9.8

d Pivot to Center of mass distance 0.03

ml Mass of pendulum 0.36

J Moment of inertia 0.0106

c Viscous damping 0.0076

Km Motorized Propeller Gain 0.0296

Referans: A. Mohammadbagheri and M. Yaghoobi, "A New Approach to Control a Driven Pendulum with PID
Method," 2011 UkSim 13th International Conference on Computer Modelling and Simulation,
Cambridge, 2011, pp. 207-211, doi: 10.1109/UKSIM.2011.47.

NOT: Makaleyi sonraki sayfalarda bulabilirsiniz.

 2011 UKSim 13th International Conference on Modelling and Simulation

A New Approach to Control A Driven Pendulum with PID Method

Amin Mohammadbagheri Mahdi Yaghoobi

Electrical Engineering Department Electrical Engineering Department
Islamic Azad University, Mashhad Branch, Iran Islamic Azad University, Mashhad Branch, Iran
amin.mbagheri@mshdiau.ac.ir yaghobi@mshdiau.ac.ir

Abstract — This paper proposed a PID method to Controlling this system is important because it
control a driven pendulum. Driven pendulum is a enables us to control the pendulum behavior with
suspended pendulum, which has a motorized propeller adjusting the given voltage, such as the stability, rise
at the end of the stick. So it can be controlled with
time, overshoots etc. Kizmaz [6] proposed a sliding
controlling the voltage given to DC motor. The
characteristics of the transient response of this system
mode control for this system and the presented
such as overshoots and settling time are not acceptable. method was based on the improvement of robustness.
For example the settling time of this system is upwards The SMC controller was designed by changing the
of 10 seconds. The discussed method can improve the control parameters values and reaching the
time domain performance of the linearized system. The appropriate time domain performance.
simulation results proven that this method enhanced A proportional-integral-derivative controller (PID
stability as well as ease of tuning. The presented Controller) is a common feedback loop component
controller is designed and evaluated using used for control system. The controller takes a
MATLAB/Simulink.
measured value from a process or other apparatus and
compares it with a reference set point value. The
Keywords- Compound Pendulum; Dirven Pendulum; PID difference (or “error” signal) is then used to adjust
Control; MATLAB/Simlink some input to the process in order to bring the process
measured value back to its desired set point [7].
In this paper a PID controller was used so the
I. INTRODUCTION pendulum reaches a steady-state angle with desired
A simple pendulum system is a mechanical transient response and .The presented method is based
system that exhibits periodic motion. It consists of on the time domain performance of the system.
particle like bob of mass suspended by a light string The contents are organized as follows. Section II
of length that is fixed at the upper [1]. A Compound describes the driven pendulum and system modeling.
Pendulum is a standard topic in most physics courses Section III proposes a PID control method for this
because it includes some physical subjects such as the system. In section IV, results of simulation of system
simple harmonic motion, the period of oscillation, the with proposed controller. Section V gives the
acceleration of gravity, the center of mass, the conclusion of this paper.
moment of the inertia, momentum, etc. [2]. II. DRIVEN PENDULUM SYSTEM
Literature Works [3]-[5] adopted types of
compound Pendulum. This type of pendulum The schematic picture of the considered
pendulum is shown in Fig.1. This pendulum is driven
described in this paper has a motorized propeller at
by DC motor. It has a motorized propeller at the end
the end of the pendulum so it can lift the pendulum
of the stick as was shown in the figure. After applied
after given voltage. This concept of pendulum system voltage, the propeller spins and generates torque T to
is useful and can be applied in real life. This system pull up the pendulum.
has many applications such as measurement, scholar
tuning, coupled pendulum, entertainment etc.

978-0-7695-4376-5/11 $26.00 © 2011 IEEE 207

DOI 10.1109/UKSIM.2011.47

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 A. Transfer Function
Equation2 gives the transfer function driven
pendulum .

() 
= (3)
() .  . ..

And the standard representation is

() /
=   ..! (4)
()    . 
 
Fig.1. Schematic diagram of driven pendulum
The generated trust T in above equations is not
The aim is to command the pendulum to a manipulated variable for control system since the
specified angle. The suspended point is attached to an pendulum is adjusted by applied voltage.
encoder to provide the measurements of angle and The transfer function of motorized propeller can
angular velocity of pendulum. It is the most be represented as a block diagram.(Fig.2.)
advantages of driven pendulum that enables us The method to obtain this gain was shown in [6]
controlling its behavior with adjusting the applied as
voltage. Therefore, the controlled variable for this
system, is the angle of the pendulum settled and the  ...
manipulated variable is the voltage given to the " = #
(5)
motorized-propeller.
According to Newton’s laws and angular Then the block diagram of driven pendulum is
momentum, the motion equation of driven pendulum given in Fig.3.
is derived.

. ̈ + .  +
̇ . . .
.   =  (1)

Where;

angular position of the pendulum

Fig2. Block diagram of Motorized Propeller
. = weight of the pendulum
d = the distance between center of mass and pivot
point
c = viscous damping coefficient
T = the trust
By considering   ≈  , the linearized
motion equation can be written as follows

Fig.3. Block diagram of driven pendulum

. ̈ + .  +
̇ . . .
=  (2)

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 Moreover, the Transfer function is obtained by

() $/
=   ..! (6)
#()    . 
 

B. State Space
Consider this system represented in state space by

Fig.5. Block diagram of a PID controller [10]

% =  , %& = ̇ , x& = ẋ (7)

A PID controller calculates an "error" value as the

is written as difference between a measured process variable and a
desired set point. The controller attempts to minimize
%̇ 0 1 % 0 the error by adjusting the process control inputs [10].
' * = ,−  .. −
- . 2
%& 3 + , $ -.u
 
89 8
 7
%&̇    $7 8! 8!
" . 5 + "6 + 
= " 
(9)

%
4 = [1 0]. 2 % 3 + 0 (8) Three parameters must be adjusted in the PID
&
controller K : , K < and K > . In guaranteeing stability
and performance and shaping the closed-loop
response, it is important to select a suitable
III. CONTROL METHOD compensator.
When the characteristics of a plant are not A. Proportional gain Kp:
suitable, they can be changed by adding a Large proportional control can increase response
compensator in the control system. One of the simple speed and reduce the steady state error, but will lead
and useful compensators feedback control design is to oscillation of the system [8].
described in this section.
B. Derivative gain Kd:
In this paper, the control method is designed The derivative term slows the rate of change of
based on the time-dimension performance
the controller output and this effect is most noticeable
specifications of the system, such as settling time, rise
time, peak overshoot, and steady state error and so on. close to the controller set point. Hence, derivative
control is used to reduce the magnitude of the
overshoot produced by the integral component and
improve the combined controller-process stability
[10].

C. Integral gain KI:

Integral control is favorable for diminishing the
Fig.4. Block diagram of system steady state error but it will lengthen the transient
response [8].

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 This paper attempts to design optimal values for B. Simulation Result
controller parameters. Then it obtained the value of The open loop response is given in Fig.7. It
PID gains by Ziegler and Nichols method [9]. Ziegler illustrates the need for control. The settling time of the
and Nichols provided a technique for selecting the system is upwards of 10 seconds. The reason for the
persistent oscillations is a lack of damping in the
PID gains that works for a large class of industrial
system.
systems. These equations can be written as

k p k p m
k p  0.6 K m , k d  , ki 
4 m  (10)

IV. SIMULATION Fig.6. Open Loop system modelling in Simulink

A. Simulation Method
After the mathematical model of system obtained, 80
control system designed. Then MATLAB/Simulink Open Loop

Theta(Angular position)
was used to done the simulation of system behavior. 60

The model parameters are based on an 40

experimental set up previously by [6].
20
Where;
0
d = 0.03 m, m6 = 0.36 kg , g = 9.8 m/s & , 0 5 10 15 20 25
J = 0.0106 Kg& , c = 0.0076 Nms/rad , T ime
Km = 0.0296
Fig. 7. Open Loop Respons

Therefore, the transfer function is given by First, the open loop system is modeled in
Simulink as shown in Fig.6. Then for investigate the
() &.AB&& capacity of controller, the system consists of driven
#()
=  C.ABB.BBDB
(11)
pendulum and PID controller was simulated (Fig.7.).
In this simulation, the aim is to command the
According to equation (10) , Values of PID gains pendulum to settle at 40 degrees angle.
was computed as follows
K 6 = 2.2 " = 1.1 "F = 0.1
.

Fig.8. Simulinke Model of Driven Pendulum with PID controller

210

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 The response of driven pendulum with PID controller Electric Power Systems, 2010,Wroklow,Poland
is shown in Fig.8.From figure the rise time and settling [7]N.H.A.Hamid and M.M.Kamel and F.H.Yahya. “Application
time decreased with control system. In addition, output of of PID controller in controlling Refrigerator Temperature”,
the system reaches the desired value without overshoot. In Proc. CSPA,2009
Results illustrate the fact that simulation response curves [8]G.Jun.juie. and Z.Yan-Juan , “Application of Nonlinear PID
are in good agreement. controller in Main Steam Temperature Control”, In Proc.
APPEEC,2009,PP.1-5
[9] Ziegler, J.G and Nichols, N. B. (1942). Optimum settings for
80 automatic controllers. Transactions of the ASME. 64.
Theta v(Angular Position)

Open Loop pp. 759–768.

PID Control [10] http://en.wikipedia.org/wiki/ Ziegler–Nichols_meth
60

40

20

0
0 5 10 15 20 25
T ime Fig.
9. System Response with and without Controller

V. CONCLUSOIN
In this study, a PID controller was designed for a
linearized driven pendulum system. The simulation was
done for the system with and without controller. The
Response characteristics of driven pendulum improved
with PID control. The optimal values for controller
parameters are obtained by Ziegler and Nichols method.
The simulation results proven that the PID control method
compared to sliding mode controller, which designed by
changing control parameter values [6], is an easy-tuning
and more effective way to enhance stability of time
domain performance of the driven pendulum system.

Various control methods can be designed for driven

pendulum such as Fuzzy control, Fuzzy PID control,
MRAC, etc.
REFRENCES
[1] R. A. Serway, “Physics: For scientist and engineers with
modern physics”, Saunders, pp. (468-475, 264-265),
Philadelphia, 1990
[2] P. F. Hinrichsen, “Practical applications of the compound
pendulum”, The Physics Teacher, pp. 286-292, May 1981
[3] O. Octavio. “PD Control for Vibration Attenuation in a
Physical Pendulum with Moving Mass“Mathematical
Problems in Engineering,vol.2009, ID 179724
[4] K.Yoshida and K.Kawanishi and H.Kawabe. “Stabilizing
Control for a Single Pendulum by Moving the Center of
Gravity: theory and experiment.” .In Proc. AACC, ,1997,
pp.3405-3410.
[5] Z.Sheng, “Kinematics and dynamics analysis of compound
pendulum jawbreaker based on UG” .In Proc. IIS,2010,
pp.94-97.
[6] H. Kizmaz and S.Akosy and A.Muruch. “Sliding mode
control of suspended pendulum”, Presented at the Modern

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